From 343d718977d55a15e0bfe163532f625d28e996d2 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 25 Aug 2023 18:52:47 +0900 Subject: [PATCH] chore(behavior_path_planner): use RCLCPP_DEBUG for some frequent RCLCPP_WARN (#4757) Signed-off-by: Takayuki Murooka --- .../src/scene_module/avoidance/avoidance_module.cpp | 4 ++-- .../src/utils/path_shifter/path_shifter.cpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 70999f1504fee..ff5706c34bdc7 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -461,7 +461,7 @@ void AvoidanceModule::fillEgoStatus( if (isOutputPathLocked()) { data.safe_new_sl.clear(); data.candidate_path = helper_.getPreviousSplineShiftPath(); - RCLCPP_WARN_THROTTLE( + RCLCPP_DEBUG_THROTTLE( getLogger(), *clock_, 500, "this module is locked now. keep current path."); return; } @@ -2455,7 +2455,7 @@ bool AvoidanceModule::isValidShiftLine( constexpr double THRESHOLD = 0.1; const auto offset = std::abs(new_shift_length - helper_.getEgoShift()); if (offset > THRESHOLD) { - RCLCPP_WARN_THROTTLE( + RCLCPP_DEBUG_THROTTLE( getLogger(), *clock_, 1000, "new shift line is invalid. [HUGE OFFSET (%.2f)]", offset); return false; } diff --git a/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp index 653efff7058d2..9ca083af35c92 100644 --- a/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp +++ b/planning/behavior_path_planner/src/utils/path_shifter/path_shifter.cpp @@ -321,7 +321,7 @@ std::pair, std::vector> PathShifter::calcBaseLengths if (lateral_a_max < lateral_acc_limit_) { // no need to consider acceleration limit - RCLCPP_WARN_THROTTLE( + RCLCPP_DEBUG_THROTTLE( logger_, clock_, 3000, "No need to consider lateral acc limit. max: %f, limit: %f", lateral_a_max, lateral_acc_limit_); return getBaseLengthsWithoutAccelLimit(S, shift_length, v0, a, T, offset_back);